/**
 * $Id: Mass.h 2 2013-05-20 14:12:07Z cota@upard.org $
 * Copyright (c) 2013 Cota Nabeshima <cota@upard.org>
 * This file is subject to the MIT license available at,
 * http://opensource.org/licenses/mit-license.php
 */

#ifndef _DAISIE_MASS_H_
#define _DAISIE_MASS_H_

#include <vector>

#include <cutil/Kinematics.h>

#include <ode/mass.h>

namespace daisie {

using namespace std;
using namespace cotave;

struct Mass
  : public dMass {

public:
  ColumnVector3 centerOfMass() const;
  Matrix33 inertiaMatrix() const;
  
  void setTriangleMesh( double density, 
			const vector< ColumnVector3 > &vertices,
			const vector< IntVector3 > &indices );
};

}

#endif
